ros之pcl_ros的使用

目录

• bag to pcd
• pcd_to_pointcloud
• pointcloud_to_pcd
• 参考

bag to pcd

• usage:

rosrun pcl_ros bag_to_pcd <input_file.bag> <topic> <output_directory>

• example:

rosrun pcl_ros bag_to_pcd data.bag /laser_tilt_cloud ./pointclouds

pcd_to_pointcloud

• usage

rosrun pcl_ros pcd_to_pointcloud <file.pcd> [ <interval> ]

• example1:

Publish the contents of point_cloud_file.pcd once in the /base_link frame of reference.

rosrun pcl_ros pcd_to_pointcloud point_cloud_file.pcd

• example2:

Publish the contents of cloud_file.pcd approximately ten times a second in the /odom frame of reference.

rosrun pcl_ros pcd_to_pointcloud cloud_file.pcd 0.1 _frame_id:=/odom

pointcloud_to_pcd

• usage

rosrun pcl_ros pointcloud_to_pcd input:=<cloud_topic> <option>

• example1:

Subscribe to the /velodyne/pointcloud2 topic and save each message in the current directory. File names look like 1285627014.833100319.pcd, the exact names depending on the message time stamps.

rosrun pcl_ros pointcloud_to_pcd input:=/velodyne/pointcloud2

• example2:

Set the prefix parameter in the current namespace, save messages to files with names like /tmp/pcd/vel_1285627015.132700443.pcd.

rosrun pcl_ros pointcloud_to_pcd input:=/my_cloud _prefix:=/tmp/pcd/vel_

参考

• pcl_ros

标签：ros,cloud,pcl,使用,rosrun,pointcloud,pcd
来源： https://www.cnblogs.com/chrislzy/p/14934353.html